System and method for creating a navigable, three-dimensional virtual reality environment having ultra-wide field of view

ABSTRACT

The present invention relates to a system and method for capturing video of a real-world scene over a field of view that may exceed the field of view of a user, manipulating the captured video, and then stereoscopically displaying the manipulated image to the user in a head mounted display to create a virtual environment having length, width, and depth in the image. By capturing and manipulating video for a field of view that exceeds the field of view of the user, the system and method can quickly respond to movement by the user to update the display allowing the user to look and pan around, i.e., navigate, inside the three-dimensional virtual environment.

RELATED APPLICATIONS

This application is a continuation of U.S. patent application Ser. No.17/159,026, filed Jan. 26, 2021, which is a continuation of U.S. patentapplication Ser. No. 16/653,329, filed Oct. 15, 2019, which is acontinuation of U.S. patent application Ser. No. 15/849,885, filed Dec.21, 2017, which is a continuation of U.S. patent application Ser. No.14/685,234, filed Apr. 13, 2015, now U.S. Pat. No. 9,883,174, which is acontinuation of U.S. patent application Ser. No. 14/090,132, filed Nov.26, 2013, now U.S. Pat. No. 9,007,430, which is a continuation ofInternational Application No. PCT/US2012/039572, filed May 25, 2012,which claims priority to U.S. Provisional Application No. 61/490,656,filed May 27, 2011. Each of the foregoing applications is incorporatedherein by reference.

FIELD OF THE INVENTION

The present invention relates generally to systems and methods forcreating a navigable, panoramic three-dimensional environment of areal-world scene, and more particularly, but not exclusively, tocapturing video images that extend beyond the field of view of a userand manipulating the images to create a navigable, panoramicthree-dimensional virtual reality environment in a head mounted displaythat permits the user to control the direction they look in the recordedreal world environment.

BACKGROUND OF THE INVENTION

Existing three-dimensional image capture systems may capture images oflimited field of view using two cameras mounted side by side and displaythese two images separately into each eye of a user by various means.Since the field of view of the originally captured images is limited,such systems do not readily permit the user to turn their head, forexample 90° to the left or right, to see what is to the left or right ofthe originally captured images in the real-world scene. However,capturing video data of wide field of view images poses a number ofdifficulties which must be overcome in order to present the images tothe user in a manner that accurately reflects the real-world scene andthe user's movement relative to the real-world scene. Hence, it would bean advance in the state of the art to provide a system and method forcreating a navigable, panoramic three-dimensional virtual realityenvironment of a real-world scene that permits the user to move aroundinside the environment.

SUMMARY OF THE INVENTION

In one of its aspects, the present invention relates to systems andmethods for creating a navigable, panoramic three-dimensional virtualreality environment in which stereoscopic perception ofthree-dimensional depth to a user is achieved. (As used herein, a“three-dimensional virtual reality environment” is defined to be one inwhich stereoscopic perception of three-dimensional depth can beperceived by a user, e.g., as in a 3-D TV.) In this regard, the systemsand methods may provide for the recording of a real-world scene of up toa full 360° by 360° field of view in three dimensions, manipulating therecorded images, and then displaying the images to a person using a headmounted display with a tracking device.

For example, the present invention may provide a system for creating anavigable, panoramic three-dimensional virtual reality environment,comprising a wide field of view optical imaging device having at leasttwo optical imaging elements configured to image at least two differentviewpoints of a scene. (As used herein, the term “wide field of view” isdefined to mean a field of view having a full angle greater than 75degrees in a vertical direction and at the same time having a full anglegreater than 170 degrees in the horizontal direction.) The opticalimaging device may include a fisheye lens and/or a mirror, for example.The optical imaging device may include at least one optical imagingdetector configured to record first and second video image data of thedifferent viewpoints of the scene, respectively. For example, theoptical imaging device may be configured to alternately display theimages of the at least two different view points on the optical imagingdetector to provide the first and second video image data.Alternatively, a separate optical imaging detector may provided for eachrespective optical imaging element.

In addition, the system may include a tracking device configured totrack the movement of a user, and a position detector disposed incommunication with the tracking device to receive tracking data from thetracking device and configured to determine a direction of view of theuser. An image renderer may be provided and disposed in communicationwith the optical imaging device to receive the first and second videoimage data. The image renderer may also be disposed in communicationwith the position detector to receive the direction of view, and may beconfigured to compute respective regions of interest of a portion of thefirst and second video image data based on the user's direction of view.A head mounted display may be disposed in communication with the imagerenderer to receive image data associated with the respective regions ofinterest and may be configured to display the image data associated withthe respective regions of interest the user, whereby a navigable,panoramic three-dimensional virtual reality environment is created.

In one of its configurations, the renderer may include a computer usablemedium having a computer readable program code embodied therein. Thecomputer readable program code may be adapted to be executed toimplement a method for rendering the first and second video image datato create a navigable, panoramic three-dimensional virtual realityenvironment. The method may also include the steps of creating first andsecond wireframe spheres, and transforming each of the first and secondvideo images by wrapping the first and second video data onto the firstand second wireframe spheres respectively.

In another of its aspects, the present invention may provide a computerusable medium comprising a computer readable program code embodiedtherein. The computer readable program code may be adapted to beexecuted to implement a method for rendering video image data to createa navigable, panoramic three-dimensional virtual reality environment.The method may include the steps of receiving video image data of ascene having a wide field of view comprising first and second videoimage streams taken from different viewpoints. The first video imagestream may have a plurality of first image frames and the second videoimage stream may have a plurality of second image frames. The method maysynchronize the respective pairs of the first and second image frames tocreate a video output stream of the synchronized image pairs. Forexample, the synchronization may be performed by merging respectivepairs of the first and second image frames to create a video outputstream of the merged image pairs. The step of synchronizing respectivepairs of the first and second image frames may also include removingdistortion from the first and second image frames.

The method may also include receiving position data indicating adirection of sight of a user, calculating a first and second region ofinterest of the respective first and second image frames based on theposition data, and displaying the first and second regions of intereston a stereoscopic display, whereby a navigable three-dimensional virtualreality environment is created of the recorded real world environment.

The method may also create first and second wireframe spheres and wrap arespective first and second section of the synchronized or merged imagepairs onto the respective first and second wireframe spheres. Inaddition, the method may receive position data indicating a direction ofsight of a user and calculate a first and second region of interest ofthe respective first and second wireframe spheres based on the positiondata. The first and second regions of interest may be displayed on astereoscopic display, The step of displaying the first and secondregions of interest may include rotating the first and second wireframespheres in response to the position data.

BRIEF DESCRIPTION OF THE DRAWINGS

The foregoing summary and the following detailed description of thepreferred embodiments of the present invention will be best understoodwhen read in conjunction with the appended drawings, in which:

FIG. 1 schematically illustrates an exemplary system for creating anavigable, panoramic three-dimensional virtual reality environment inaccordance with the present invention;

FIGS. 2A, 2B schematically illustrate an exemplary method for creating anavigable, panoramic three-dimensional virtual reality environment inaccordance with the present invention; and

FIGS. 3A-3D schematically illustrate exemplary configurations foroptical imaging devices used in the present invention, with FIGS. 3A, 3Bshowing side elevational and top views, respectively, of a mirrorsystem, FIG. 3C showing a top view of a lens system have forward andrearward pairs of imaging devices, and FIG. 3D showing a top view of ahexagonally configured system having six imaging devices.

DETAILED DESCRIPTION OF THE INVENTION

Referring now to the figures, wherein like elements are numbered alikethroughout, the present invention relates to systems and methods forcreating a navigable, panoramic three-dimensional virtual realityenvironment having an ultra-wide field of view, FIGS. 1, 2A, 2B. Forexample, in one of its aspects, the systems and methods provide anavigable, panoramic three-dimensional virtual reality environment bycapturing video image data of a scene having a wide field of view. Bycapturing video data of a scene that extends beyond the field of view ofa user and storing and transforming that video data, the systems andmethods of the present invention can create a navigable, panoramicthree-dimensional virtual reality environment that can rapidly renderand present to the user video information of new portions of the scenethat come into the user's view as the user moves their head. As aresult, the user gets the feeling of being inside a virtual environment,being able to perceive depth and pan and zoom, due to the manipulationand display of the video image data by the system and method of thepresent invention.

For example, as shown in FIG. 1 , an exemplary system in accordance withthe present invention may include a wide field of view optical imagingdevice 100 which may include at least two optical elements 106, 108 eachoriented to image different viewpoints of a scene. Respective opticalimaging detectors 102, 104 may be associated with each optical element106, 108. Alternatively, a single imaging detector may be provided andconfigured to alternately receive images from each of the opticalelements 106, 108. The optical elements 106, 108 may include anysuitable optical imaging device capable of imaging a wide field of view,such as fisheye lenses, Fresnel lenses, mirror lenses, and catadioptricsystems, for example. For instance, the two optical elements 106, 108may be provided in the form of fisheye lenses which can capture videoimage data over a field of 180° by 180°. (For example, a 185° lensRaynox® Circular Fisheye Conversion Lens DCR-CF187PRO, Yoshida IndustryCo., Ltd. Tokyo, Japan.) Alternatively, the optical elements may beprovided in the form of parabolic reflectors 306, 308 and associateddetectors 302, 304, FIGS. 3A, 3B. (For example, Pano Pro™ MkIIVB, PanoPro, Ltd, Watlington, UK.) Further, two pairs of optical imagingdetectors with associated optical elements may be used to capture videoimage data having a wider field of view. For example, a pair of forwardfacing optical imaging detectors 312 and a pair of rearward facingoptical imaging detectors 310 may be employed, FIG. 3C. Still further,five (or four) optical imaging detectors and optical elements 314 maybespaced equidistant around the circle with an optional sixth opticalimaging detector and optical element 314 pointing upward out of theplane of the circle, FIG. 3D.

The optical imaging detectors 102, 104 may record first and second videoimage data comprising left and right video image streams 2, 4 and maycommunicate directly with an image renderer 110 to transmit therespective left and right video image streams 2, 4 acquired by theoptical imaging detectors 102, 104 to the image renderer 110. Such aconfiguration in which the optical imaging detectors 102, 104communication directly with the image renderer 110 may be used forreal-time imaging. Alternatively, the optical imaging device 100 mayrecord and store the left and right video image streams 2, 4 forsubsequent download to the image renderer 110. For example, the left andright video image streams 2, 4 may be subsequently loaded on to ahard-drive or other suitable storage device to be accessed by the imagerenderer 110 at a later date.

The image renderer 110 may communicate with a head mounted display 130(iWear® VR920, Vuzix Corporation, Rochester, NY) worn by a user whichmay include a tracking device 140 configured to track the movement ofthe user. A position detector 120 may be disposed in communication withthe tracking device 140 to receive tracking data from the trackingdevice 140 to determine the direction of view of the user. Although theposition detector 120 is shown as a separate element in FIG. 1 , theposition detector 120 may optionally be provided as an integral part ofthe tracking device 140. (For example, FSRK-USB-1, Hill Crest Labs,Rockville, MD.) The position detector 120 may be disposed incommunication with the image renderer 110 to supply the direction ofview data to the image renderer 110. By combining knowledge of thedirection of view of the user with the left and right video imagestreams 2, 4, the image renderer 110 may control the rendering anddisplay of selected portions of the left and right video image streams2, 4 corresponding to the user's direction of view on respective leftand right screens 134, 132 of the head mounted display 130 so the userperceives a navigable, panoramic three-dimensional virtual realityenvironment.

Specifically, the image renderer 110 may take the left and right videoimage streams 2, 4, and a perform polar to rectangular conversion tomerge respective temporally matched image frames of the left and rightvideo image streams 2, 4 into a merged image pair 8. That is, for eachimage frame of the left video image stream 2 the temporallycorresponding image frame of the right video image stream 4 is mergedthereto to create a series of merged image pairs 8 for all video framesto provide an output stream of the merged image pairs 8. Mergingtemporally matched image frames 8 from the left and right video imagestreams 2, 4 ensures that the video image data from each optical imagingdetector 102, 104 remains temporally synchronized, and is but oneexample of how the image streams 2, 4 may be synchronized. That is, datawill always be in sync as the left and right video image streams 2, 4are now merged together in the output stream. With the left and rightvideo image streams 2, 4 now merged in stereo format in the outputstream, the output stream can be processed to play in the head mounteddisplay 130. (In addition, in certain configurations of the opticalimaging device 100 it is possible that one optical element 106, 108 mayimage the other, in which case the image renderer 110 may patch theimages of the left and right video image streams 2, 4 to obscure theimage of the other optical element.)

To create the head mounted display output, the image renderer 110 maycreate virtual wireframe spheres 12, 14 (one for each eye) to provide aframework for the virtual reality environment. As each merged image pair8 is encountered in the output stream, the merged image pair 8 may besplit into respective left and right portions that are then wrapped ontorespective left, right wireframe sphere 12, 14. The image renderer 110may virtually place a camera inside the left sphere 14 to create a feedto the left screen 134 of the head mounted display 130 for display tothe left eye of the user. Likewise, the image renderer 110 may virtuallyplace a camera inside the right sphere 12 to create a feed to the rightscreen 132 of the head mounted display 130 for display to the right eyeof the user. As these virtual cameras are looking only at a smallsection of the inside of the virtual spheres 12, 14 the cameras only seepart of the image projected around the virtual spheres 12, 14. As theuser turns his head anticlockwise a signal is sent back from thetracking device 140 via the position detector 120 to inform the imagerenderer 110 that the user's head is moving anticlockwise, in responseto which the image renderer 110 rotates both spheres 12, 14 clockwisearound the spheres' vertical axes. As a result, the virtual camerasinside the virtual spheres 12, 14 will now see an image that pans to theanticlockwise as the cameras are always fixed looking forward, so theinside of the virtual spheres 12, 14 pan clockwise which gives thefeeling to the user of movement turning anticlockwise the opposite way.

Turning to FIGS. 2A, 2B, an exemplary process by which the imagerenderer creates the navigable, panoramic three-dimensional virtualreality environment is illustrated. In one exemplary method inaccordance with the present invention, a navigable, panoramicthree-dimensional virtual reality environment having ultra-wide field ofview may be created using a fisheye stereo side-by-side video publisherfor creating the output stream of merged image pairs 8, FIG. 2A, inconjunction with a spherical stereo side-by-side viewer for processingand displaying the output stream to the user, FIG. 2B. Turning first tothe publisher, FIG. 2A, the publisher may be implemented using FFMpegopen source libraries for handling multimedia data and Microsoft®DirectX® protocols, though other suitable libraries or algorithms may beused to effect the creation of the output stream of merged image pairs8. As a first step 200, the video publisher may initialize globalvariables, which may include initializing the bit rate, frame size,audio channel, and audio rate, as well as selecting the output videostream compression, and output FPS frame rate. (The name of the outputvideo file may also be selected at step 200.) In addition at step 200,the publisher may receive the left and right video image streams 2, 4,with the left video image stream 2 having a plurality of left imageframes and the right video image stream 4 having a plurality of rightimage frames.

After global initialization, publication of the merged image pairs 8 mayproceed by creating two parallel publication threads for processing theleft and right video image streams 2, 4, at steps 210 a and 210 b,respectively. Initialization of variables for each publication threadmay include initialization of the DirectX® variables: FilterGraph,SampleGrabber, GraphBuilder, IMediaControl, IVideoWindow, IBasicAudio,and IMediaSeek, steps 210 a, 210 b. In addition, the rendering modesassociated with sharpening, brightness, contrast, and noise median maybe set, steps 220 a, 220 b. With the variables initialized and renderingmodes set, the left and right video image streams 2, 4 may be processedto remove distortion introduced by the optical imaging device 100 usingthe transformation provided in Table 1, steps 230 a, 230 b. Thedistortion-free streams may then be rendered to respective left andright bitmap streams, steps 240 a, 240 b, which may then be merged tocreate the merged image pairs 8 of the output stream, step 250.

TABLE 1 Transformation for each pixel of the current frame: x_dst,y_dst - destination coordinates x_src, y_src - source coordinatesdistance = FrameHeight * PI distance_1 = 1.0 / distance distance_2 =distance / 1.1 phi =  x_dst * distance_1 theta = −y_dst * distance_1 +PI/2 s = SIN( theta ) v0 = s * SIN( phi ) v1 = COS( theta ) r =SQRT(v1*v1 + v0*v0) s = ATAN(r / ( s * COS( phi ))) / r x_src = v0 *distance_2 * s y_src = v1 * distance_2 * s

Having formed the output stream of merged image pairs 8, the imagerenderer 110 may proceed with transformation of the output stream fordisplay in the head mounted display 130 to create the navigable,panoramic three-dimensional virtual reality environment. Beginning atstep 260, the video publisher may be initialized by initializing theDirectX® D3D interfaces (e.g., IDirect3D9, IDirect3DDevice9,IDirect3DVertexBuffer9, and IDirect3DTexture9), FIG. 2B. In addition atstep 260, the system may be configured to initialize the DirectShowinterface (e.g., FilterGraph, SampleGrabber, GraphBuilder,IMediaControl, IVideoWindow, IBasicAudio, IMediaSeek) as well as commonparameters, such as all parameters for the stereo video stream andlook-up parameters for left and right eye image buffers. Afterinitialization, rendering may proceed by creating two parallel threadsfor rendering the output video stream of merged image pairs 8 andoperating the tracking device 140, at steps 270 and 290, respectively.Specifically, for the tracking thread, the process may include the stepsfor initializing the tracking device 140, step 290, and tracking theuser's movement using the position detector 140, step 292. Returning tothe rendering thread, at step 270 the 3D environment may be initializedby filling quad vertices (D3D), creating the Direct3D interface,creating a D3D device and setting the DirectX D3D display mode, settinga render state for the D3D device, setting light for D3D device,creating a vertex buffer for D3D device, preparing backbuffer flipping,and preparing a D3D scene. Once the 3D environment is initialized, theframe-by-frame process of rendering the video stream may proceed at step272. Specifically, the process may retrieve a current video framecontaining a merged image pair 8 and may split the merged image pairs 8of the video output stream into respective left and right images for usein a left eye buffer and right eye buffer, step 272. Further, the statusof the user's position and direction of view in the parallel trackingthread may be checked and updated. As a next step in creating thenavigable, panoramic three-dimensional virtual reality environment, theleft and right images generated at step 272 may be wrapped around thevirtual spheres 12, 14 using the exemplary code listed in Table 2 inview of the following geometric conventions.

In analytic geometry, a sphere with center (x₀, y₀, z₀) and radius, r,is the locus of all points (x, y, z) such that(x−x₀)²+(y−y₀)²+(z−z₀)²=r². The points on the sphere with radius r canbe parameterized via

x=x ₀ +r sin θ cos φ

y=y ₀ +r sin θ sin φ(0≤φ≤2π and 0≤θ≤π)

z=z ₀ +r cos θ.

A sphere of any radius centered at zero is an integral surface of thefollowing differential form x dx+y dy+z dz=0. In Cartesian coordinates(x, y, z) on the sphere and (X, Y) on the plane, the projection and itsinverse are given by the formulas

${{\left( {X,Y} \right) = \left( {\frac{x}{1 - z},\frac{y}{1 - z}} \right)},{and}}{\left( {x,y,z} \right) = {\left( {\frac{2X}{1 + X^{2} + Y^{2}},\frac{2Y}{1 + X^{2} + Y^{2}},\frac{{- 1} + X^{2} + Y^{2}}{1 + X^{2} + Y^{2}}} \right).}}$

In spherical coordinates (φ, θ) on the sphere (with φ the zenith angle,0≤φ≤π, and θ the azimuth, 0≤θ≤2π) and polar coordinates (R, Θ) on theplane, the projection and its inverse are

${\left( {R,\Theta} \right) = \left( {\frac{\sin\varphi}{1 - {\cos\varphi}},\theta} \right)},{\left( {\varphi,\theta} \right) = {\left( {{2{arc}{\tan\left( \frac{1}{R} \right)}},\Theta} \right).}}$

Here, φ is understood to have value π when R=0. Also, there are manyways to rewrite these formulas using trigonometric identities. Incylindrical coordinates (r, θ, z) on the sphere and polar coordinates(R, Θ) on the plane, the projection and its inverse are

${\left( {R,\Theta} \right) = \left( {\frac{r}{1 - z},\theta} \right)},{\left( {r,\theta,z} \right) = {\left( {\frac{2R}{1 + R^{2}},\Theta,\frac{R^{2} - 1}{R^{2} + 1}} \right).}}$

Having transformed the left and right images from a rectangular tospherical form by wrapping the left and right images around respectivespheres 12, 14, further processing can proceed by selecting that portionof the wrapped images for display on each of the left and right eyes ofthe user, step 276. That is, in response to the user's direction of viewas determined at step 292, a region of interest for each of the left andright wrapped images is selected for display in the head mounted display130, step 276. Specifically, the process may, for example, execute thesteps for D3D device render by: preparing the D3D matrix, choosing theleft and right regions of interest, and controlling the video stream(play, stop, pause) as well as controlling panning (up, down, left,right, zoom). The left and right regions of interest may then bedisplayed on the respective left and right displays 134, 132 of the headmounted display 130. In the exemplary DirectX® implementation displaymay be accomplished by having D3D render left and right image bufferscontaining the left and right regions of interest to the left and rightdisplays 134, 132 of the head mounted display 130, step 278. After avideo frame is thus displayed to each of the left and right displays134, 132, the process may be repeated for each video frame by sending asignal to the rendered 110 to return to step 272, step 280, to create anavigable, panoramic three-dimensional virtual reality environmenthaving ultra-wide field of view.

These and other advantages of the present invention will be apparent tothose skilled in the art from the foregoing specification. Accordingly,it will be recognized by those skilled in the art that changes ormodifications may be made to the above-described embodiments withoutdeparting from the broad inventive concepts of the invention. It shouldtherefore be understood that this invention is not limited to theparticular embodiments described herein, but is intended to include allchanges and modifications that are within the scope and spirit of theinvention as set forth in the claims.

TABLE 2 Simple Transformation: width, height - width and height of thewindow Fov - current field of view angle (degrees); pan, tilt - cameradirection point (degrees). panDest, tiltDest - model coordinates ofclicked (x, y) point (degrees). x, y - screen clicked point coordinates(pixels); r - panorama model sphere radius; vx, vy, vz - coordinates ofvector from origin to picked point in projection plane; vx2, vy2, vz2 -transformed vector of picked point. function radiansToDegree( radian ) {return (radian * 180.0) / 3.14159265358979323846264; } functionDegreeToRadians( degree ) { return (degree / 180.0) *3.14159265358979323846264; } input: x, y, Fov, pan, tilt, width, heightoutput: panDest, tiltDest r = (sqrt(w*w + h*h) / 2.0) / tan(degreeToRadians(fov/2.0) ); vx = r; vy = w/2.0 − x; vz = h/2.0 − y; pan= degreeToRadians( pan ); tilt = degreeToRadians ( −tilt ); cosp = cos(pan ); sinp = sin( pan ); cost = cos( tilt ); sint = sin( tilt ); vx2 =vx*cost*cosp − vy*sinp + vz*cosp*sint; vy2 = vx*cost*sinp + vy*cosp +vz*sint*sinp; vz2 = −vx*sint + vz*cost; sinDest = vy2 / sqrt(vx2*vx2+vy2*vy2); panDest = radinasToDegree( arcsin(sinDest) ); if( vx2 < = 0 &&vy2 > 0 ) panDest = 180 − panDest; else if( vx2 < 0 && vy2 < = 0 )panDest = −180 − panDest; sinDest = vz2 / sqrt(vx2*vx2 + vy2*vy2 +vz2*vz2); tiltDest = radiansToDegree( arcsin(sinDest) );

1-13. (canceled)
 14. A system for creating a navigable, panoramicthree-dimensional virtual reality environment with stereoscopicperception of three-dimensional depth to a user, comprising: first andsecond optical elements each optical element having a horizontal fieldof view of at least 80 degrees, the first optical element providing afirst video image stream and the second optical element providing asecond video image stream, each stream corresponding to a differentstereoscopic viewpoint of a scene; a storage device for storing thefirst and second video image streams, each stream comprising imageframes; an image renderer disposed in communication with the storagedevice to receive the first and second video image streams, the imagerenderer configured to create an output stream of merged stereoscopicimage frames corresponding to a selected direction of view of the user,the merged frames comprising image frames from the first video imagestream which are temporally matched to respective image frames from thesecond video image stream.
 15. The system according to claim 14, whereinthe first and second optical elements each include at least one opticalimaging detector configured to record the first and second video imagestreams corresponding to the different stereoscopic viewpoints of thescene.
 16. The system according to claim 14, wherein the image rendereris configured to split the merged frames of the output stream andtransform each of the split frames onto respective first and secondmodels.
 17. The system according to claim 16, wherein the center oforigin of each model is selected to correspond to a location at which arespective one of the user's eyes is to be positioned.
 18. The systemaccording to claim 16, wherein each model comprises a wireframe model.19. The system according to claim 16, wherein each model comprises asphere.
 20. The system according to claim 14, wherein the renderercomprises a non-transitory computer usable medium having a computerreadable program code embodied therein, the computer readable programcode adapted to be executed to implement a method for rendering thefirst and second video image streams to create a panoramicthree-dimensional virtual reality environment having stereoscopicperception of three-dimensional depth comprising the steps of creatingfirst and second wireframe models, and transforming each of the firstand second video image streams by wrapping the first and second videoimage streams onto the first and second wireframe models respectively.21. The system according to claim 14, wherein the field of view of eachoptical element is at least 100 degrees.
 22. The system according toclaim 14, wherein the field of view of each optical element is at least120 degrees.
 23. The system according to claim 14, wherein the field ofview of each optical element is at least 150 degrees.
 24. The systemaccording to claim 14, wherein the field of view of each optical elementis at least 170 degrees.
 25. The system according to claim 14, whereinthe field of view of each optical element is at least 183 degrees. 26.The system according to claim 14, wherein the field of view of eachoptical element is at least 210 degrees.
 27. The system according toclaim 14, wherein the first and second optical elements comprise a firstpair of optical elements, wherein the system comprises a second pair ofoptical elements facing in a different direction from the first pair,each optical element of the second pair having a horizontal field ofview of at least 80 degrees, and wherein the first and second pairs ofoptical dements are configured to provide for the recording of areal-world scene of up to a full 360° by 360° field of view in threedimensions.
 28. A method for rendering video image streams to create anavigable, panoramic three-dimensional virtual reality environmenthaving stereoscopic perception of three-dimensional depth comprising:providing the system of claim 15; capturing the first and second videoimage streams from a respective one of the at least one imaging detectorof the first and second optical elements; merging selected frames of thefirst and second video image streams in stereoscopic format to createthe output stream of merged stereoscopic image frames; receivingposition data indicating a direction of sight of the user; calculating afirst and second region of interest of the merged stereoscopic imagepairs based on the position data; and displaying the first and secondregions of interest on a head mounted stereoscopic display, whereby anavigable, panoramic three-dimensional virtual reality environmenthaving stereoscopic perception of three-dimensional depth is created.29. A according to claim 28, comprising creating first and secondwireframe models, and wrapping respective first and second sections ofthe merged stereoscopic image frames onto the first and second wireframemodels respectively.
 30. A method according to claim 29, wherein thedisplaying of the first and second regions of interest comprisesrotating the first and second wireframe models in response to theposition data.
 31. A method according to claim 28, comprising removingdistortion from the first and second image frames.
 32. A methodaccording to claim 28, wherein the merging of selected frames of thefirst and second video image streams comprises temporally synchronizingthe first and second video image streams.